iCircuit VS OpenModelica

For a nice, polished, non-skeuomorphic circuit simulator, see iCircuit [1], which provides native MacOS and iOS clients (based on the Falstad JS circuit simulator mentioned elsewhere in this thread, if I recall correctly). It differs from most SPICE-based simulators in that there is no edit or run mode - the circuit is always simulating in transient mode so updates happen in real time. [1]... - Source: Hacker News / over 1 year ago

I have used https://openmodelica.org/. It's another one of those "invest substantial time understanding what they are doing, and you will likely be rewarded." Simple things are simple, but I found it took longer than I would have like to bang out e.g. a PID algo with a particular motor and load. If you want to try this, buy the book, and follow it to the end. Then keep learning, as you build more and more... - Source: Hacker News / 11 months ago

If the robot simulation doesn't need to pick up stuff or take into account changing contacts with other objects you can use Modelica's Multibody library which you can run for free with OpenModelica. This will be more accurate than other simulators because modelica can analytically solve the dynamics equations. You don't need to write them either just to connect blocks for various components. Source: 12 months ago

OpenModelica consists of a combination of graphical and written components to simulate dynamic systems. I don’t know what control system feature set might be available. AMESIM is a more extensive paid tool that operates on the same Modelica modeling language. IIRC, at least Simuscape operates on Modelica under the hood. Source: about 1 year ago

It shouldn't be too difficult to model in Modelica. You could approximate the pendula in 1D with masses on springs or just use Modelica's multibody library. Source: about 1 year ago

Modelica is a good start, at the very least in showing how to break a complex machine with many physical phenomena into components. Modeling accuracy and ease are generally opposed. Https://openmodelica.org/. Source: over 1 year ago